CN213140520U

CN213140520U - Palm assembly of manipulator for processing curved glass

Info

Publication number: CN213140520U
Application number: CN202021566179.4U
Authority: CN
Inventors: 张虎成
Original assignee: Shenzhen Zuntai Automation Equipment Co ltd
Current assignee: Shenzhen Zuntai Automation Equipment Co ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2021-05-07
Anticipated expiration: 2030-07-31

Abstract

The utility model relates to a manipulator field specifically discloses a palm subassembly for curved surface glass processing's manipulator, including last removal platen, the below of going up the removal platen is provided with mechanical palm, be connected with the carriage release lever between mechanical palm and the last removal platen, the platen spout is installed with the junction of last removal platen to the carriage release lever, mechanical palm's last surface mounting has the negative pressure pump, and the vertical outside of mechanical palm installs two vertical fingers, the centre gripping arm is installed to the below of horizontal finger, the suction disc frame is installed to the below of vertical finger, the lower surface mounting of suction disc frame has the sucking disc. The sucking disc sets up with the centre gripping arm together, can select when the curved surface glass of different curved surface radians to utilize the sucking disc to adsorb the back, recycles the control of centre gripping arm and supports the backing plate and support curved surface glass to guarantee the sucking disc to the absorption of curved surface glass upper surface, guarantee the support to curved surface glass downside simultaneously.

Description

Palm assembly of manipulator for processing curved glass

Technical Field

The utility model relates to a manipulator field specifically is a palm subassembly that is used for manipulator of curved surface glass processing.

Background

Curved surface glass is used for building glass curtain wall and vault daylighting owing to its special construction often, and the front and back windshield of some vehicles also adopts curved surface glass, and curved surface glass need tailor and the edging when using, just at this moment need adsorb curved surface glass to the manipulator sucking disc equipment and remove and process on the workstation, because the difference of curved surface glass's bending radian usually, the manipulator sucking disc that adopts is also very different.

However, the conventional manipulator sucker cannot ensure stability because the sucker is used for sucking and clamping when facing curved glass with a larger amplitude. Accordingly, one skilled in the art has provided a palm assembly for a robot for curved glass processing to solve the problems set forth in the background above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a palm subassembly that is used for curved surface glass processing's manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a palm subassembly for curved surface glass processing's manipulator, includes and moves the platen on, the below of moving the platen on is provided with the mechanical palm, be connected with the carriage release lever between mechanical palm and the last removal platen, the platen spout is installed with the junction of last removal platen to the carriage release lever, the last surface mounting of mechanical palm has the negative pressure pump, the internally mounted that the lower extreme of negative pressure pump is located the mechanical palm has the negative pressure pipeline, two horizontal fingers are installed in the horizontal outside of mechanical palm, and the vertical outside of mechanical palm installs two vertical fingers, the centre gripping arm is installed to the below of horizontal finger, the suction disc frame is installed to the below of vertical finger, the lower surface mounting of suction disc frame has the sucking disc, the last surface mounting of vertical finger has the rotation motor.

As a further aspect of the present invention: the movable rod is connected with the upper movable bedplate in a sliding mode through a bedplate sliding groove, the negative pressure pump is connected with the negative pressure pipeline in a penetrating mode, and the sucker is connected with the negative pressure pipeline in a penetrating mode.

As a further aspect of the present invention: the transverse fingers and the longitudinal fingers are fixedly connected with the mechanical palm, and the moving rod is fixedly connected with the mechanical palm.

As a further aspect of the present invention: the rotary motor and the sucker frame are provided with a rotating shaft, and the connecting part of the clamping arm and the transverse finger is provided with an upper moving chute.

As a further aspect of the present invention: the suction disc frame is rotatably connected with the rotating motor through a rotating shaft, and the clamping arm is slidably connected with the upper moving chute.

As a further aspect of the present invention: one side of centre gripping arm is provided with centre gripping arm spout, the support backing plate is installed in the outside of centre gripping arm spout, the last surface mounting of support backing plate has the blotter.

As a further aspect of the present invention: the support backing plate is connected with the clamping arm sliding groove in a sliding mode, and the cushion pad is made of rubber materials.

Compared with the prior art, the beneficial effects of the utility model are that: the device main body is arranged by arranging the sucking disc and the clamping arms together, after the sucking disc can be selectively used for adsorption when facing curved glass with different curved surface radians, the clamping arms are used for controlling the supporting cushion plates to support the curved glass, so that the sucking disc can ensure the adsorption of the upper surface of the curved glass, the clamping arms at the lower ends of the two transverse fingers are placed at the two ends of the bulge of the curved glass, the clamping arms are controlled to slide on the upper moving sliding grooves, so that the supporting cushion plates enter the grooves of the inner bulge parts of the curved glass, the vertical positions of the two supporting cushion plates are lifted by controlling the supporting cushion plates to slide in the sliding grooves of the clamping arms, so that the effect of supporting the curved glass is achieved, the cushion pads arranged on the upper surface of the supporting cushion plate can avoid the damage to the side surfaces of the glass when the curved glass is supported, most of palms of the traditional mechanical, or directly utilize the gripper to press from both sides and get, the device is through setting up sucking disc and support backing plate together, can play the effect of stabilizing the absorption, guarantees the support to curved surface glass downside simultaneously.

Drawings

FIG. 1 is a schematic diagram of a palm assembly of a robot for curved glass processing;

FIG. 2 is a cross-sectional view of the apparatus as a whole in the palm assembly of a robot for curved glass processing;

figure 3 is a bottom view of the apparatus as a whole in the palm assembly of a robot for curved glass processing.

In the figure: 1. moving the bedplate upwards; 2. a mechanical palm; 3. a lateral finger; 4. a longitudinal finger; 5. a clamp arm; 6. a suction cup holder; 7. a suction cup; 8. rotating the motor; 9. a travel bar; 201. a negative pressure pump; 202. a negative pressure pipeline; 301. moving the chute upwards; 501. a clamping arm chute; 502. a support pad; 503. a cushion pad; 801. a rotating shaft; 901. a bedplate sliding chute.

Detailed Description

Referring to fig. 1 to 3, in an embodiment of the present invention, a palm assembly of a manipulator for processing curved glass includes an upper movable platen 1, a mechanical palm 2 is disposed below the upper movable platen 1, a movable rod 9 is connected between the mechanical palm 2 and the upper movable platen 1, a platen sliding chute 901 is installed at a connection position of the movable rod 9 and the upper movable platen 1, a negative pressure pump 201 is installed on an upper surface of the mechanical palm 2, a negative pressure pipeline 202 is installed inside the mechanical palm 2 at a lower end of the negative pressure pump 201, two transverse fingers 3 are installed on a transverse outer side of the mechanical palm 2, and two longitudinal fingers 4 are installed on the longitudinal outer side of the mechanical palm 2, a clamping arm 5 is installed below the transverse fingers 3, a sucker frame 6 is installed below the longitudinal fingers 4, a sucker 7 is installed on the lower surface of the sucker frame 6, and a rotating motor 8 is installed on the upper surface of the longitudinal fingers 4.

In fig. 1, 2, 3: the movable rod 9 is connected with the upper movable bedplate 1 in a sliding mode through a bedplate sliding groove 901, the negative pressure pump 201 is connected with the negative pressure pipeline 202 in a penetrating mode, the sucker 7 is connected with the negative pressure pipeline 202 in a penetrating mode, the transverse fingers 3 and the longitudinal fingers 4 are fixedly connected with the mechanical palm 2, the movable rod 9 is fixedly connected with the mechanical palm 2, a rotating shaft 801 is installed between the rotating motor 8 and the sucker frame 6, an upper moving sliding groove 301 is formed in the joint of the clamping arm 5 and the transverse fingers 3, the sucker frame 6 is connected with the rotating motor 8 in a rotating mode through the rotating shaft 801, the clamping arm 5 is connected with the upper moving sliding groove 301 in a sliding mode, a clamping arm sliding groove 501 is formed in one side of the clamping arm 5, a supporting cushion plate 502 is installed on the outer side of the clamping arm sliding groove 501, a cushion 503 is installed on the upper surface of the supporting cushion.

In fig. 2: utilize negative pressure pump 201 to carry out evacuation processing with sucking disc 7 through negative pressure pipeline 202, thereby play and carry out absorbent effect to curved surface glass, control is rotated motor 8 and is driven pivot 801 and is rotated, the contact position of sucking disc 7 and curved surface glass under the control sucking disc frame 6, thereby control is to curved surface glass's contact adsorption area, can guarantee the clamping stability to curved surface glass under sucking disc 7 and supporting backing plate 502's the coaction, slide in the inboard platen spout 901 of last removal platen 1 through control movable rod 9, thereby can the holistic absorption clamping position of controlling means.

In fig. 1, 3: control centre gripping arm 5 slides on last removal spout 301 to make support backing plate 502 enter into the recess at curved surface glass's the inside protruding position, utilize control support backing plate 502 to slide on centre gripping arm spout 501, make two vertical position lifts that support backing plate 502, thereby play the effect that plays the support to curved surface glass, simultaneously can be according to curved surface glass's different appearance and crooked radian at the in-process of centre gripping, the blotter 503 of supporting backing plate 502 upper surface setting can avoid the damage to the glass side when supporting curved surface glass.

The utility model discloses a theory of operation is: when the curved glass is processed, the supporting base plate 502 and the sucker 7 can be used for clamping, limiting and fixing the curved glass simultaneously according to conditions, the clamping arms 5 at the lower ends of the two transverse fingers 3 are placed at the two raised ends of the curved glass, the clamping arms 5 are controlled to slide on the upper moving chute 301, so that the supporting base plate 502 enters the groove of the inner raised part of the curved glass, the supporting base plate 502 is controlled to slide on the clamping arm chute 501, the vertical positions of the two supporting base plates 502 are lifted, the curved glass is supported, the sucker 7 can be vacuumized by the negative pressure pump 201 through the negative pressure pipeline 202, the curved glass is clamped, meanwhile, the rotating motor 8 can be controlled to drive the rotating shaft 801 to rotate according to different shapes and curved radians of the curved glass in the clamping process, the contact position of the sucker 7 below the sucker frame 6 and the curved glass is controlled, so that the contact adsorption area of the curved glass is controlled, and the clamping stability of the curved glass can be ensured under the combined action of the sucker 7 and the supporting base plate 502.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The palm assembly of the manipulator for processing the curved glass comprises an upper moving bedplate (1) and is characterized in that a mechanical palm (2) is arranged below the upper moving bedplate (1), a moving rod (9) is connected between the mechanical palm (2) and the upper moving bedplate (1), a bedplate sliding chute (901) is arranged at the joint of the moving rod (9) and the upper moving bedplate (1), a negative pressure pump (201) is arranged on the upper surface of the mechanical palm (2), a negative pressure pipeline (202) is arranged at the lower end of the negative pressure pump (201) and positioned inside the mechanical palm (2), two transverse fingers (3) are arranged on the transverse outer side of the mechanical palm (2), two longitudinal fingers (4) are arranged on the longitudinal outer side of the mechanical palm (2), a clamping arm (5) is arranged below the transverse fingers (3), a sucker frame (6) is arranged below the longitudinal fingers (4), the lower surface of the sucker frame (6) is provided with a sucker (7), and the upper surface of the longitudinal finger (4) is provided with a rotating motor (8).

2. The palm assembly of a manipulator for curved glass processing according to claim 1, wherein the moving rod (9) is slidably connected with the upper moving platen (1) through a platen sliding chute (901), the negative pressure pump (201) is connected with the negative pressure pipeline (202) in a penetrating way, and the suction cup (7) is connected with the negative pressure pipeline (202) in a penetrating way.

3. The palm assembly of a manipulator for curved glass processing according to claim 1, characterized in that the transverse fingers (3) and the longitudinal fingers (4) are fixedly connected with the mechanical palm (2), and the movable rod (9) is fixedly connected with the mechanical palm (2).

4. The palm assembly of a manipulator for curved glass processing according to claim 1, characterized in that a rotating shaft (801) is installed between the rotating motor (8) and the suction cup frame (6), and an upper moving chute (301) is arranged at the joint of the clamping arm (5) and the transverse finger (3).

5. The palm assembly of a robot for curved glass processing according to claim 4, characterized in that the sucker frame (6) is rotatably connected with a rotating motor (8) through a rotating shaft (801), and the clamping arm (5) is slidably connected with the upper moving chute (301).

6. The palm assembly of a manipulator for curved glass processing according to claim 1, wherein one side of the clamping arm (5) is provided with a clamping arm sliding groove (501), a supporting cushion plate (502) is mounted on the outer side of the clamping arm sliding groove (501), and a cushion pad (503) is mounted on the upper surface of the supporting cushion plate (502).

7. The palm assembly of claim 6, wherein the support pad (502) is slidably connected to the clamp arm runner (501), and the cushion pad (503) is a rubber member.